set(MOVEIT_LIB_NAME moveit_planning_request_adapter)

add_library(${MOVEIT_LIB_NAME} SHARED src/planning_request_adapter.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(${MOVEIT_LIB_NAME}
  rclcpp
  rmw_implementation
  urdf
  urdfdom
  urdfdom_headers
  visualization_msgs
)
target_link_libraries(${MOVEIT_LIB_NAME}
  moveit_planning_scene
)

install(TARGETS ${MOVEIT_LIB_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

install(DIRECTORY include/ DESTINATION include)
